Real-Time Stereo-Based Ocean Surface Mapping for Robotic Floating Platforms: Concept and Methodology.

Consider the case of a small, unmanned boat that is performing an autonomous mission. Naturally, such a platform might need to approximate the ocean surface of its surroundings in real-time. Much like obstacle mapping in autonomous (off-road) rovers, an approximation of the ocean surface in a vessel's surroundings in real-time can be used for improved control and optimized route planning. Unfortunately, such an approximation seems to require either expensive and heavy sensors or external logistics that are mostly not available for small or low-cost vessels. In this paper, we present a real-time method for detecting and tracking ocean waves around a floating object that is based on stereo vision sensors. Based on a large set of experiments, we conclude that the presented method allows reliable, real-time, and cost-effective ocean surface mapping suitable for small autonomous boats.

Cyberattack on Flight Safety: Detection and Mitigation Using LoRa.

Automatic Dependent Surveillance-Broadcast (ADS-B) is the main communication system currently being used in Air Traffic Control (ATC) around the world. The ADS-B system is planned to be a key component of the Federal Aviation Administration (FAA) NextGen plan, which will manage the increasingly congested airspace in the coming decades. While the benefits of ADS-B are widely known, its lack of security measures and its vulnerability to cyberattacks such as jamming and spoofing is a great concern for flight safety experts. In this paper, we first summarize the cyberattacks and challenges related to ADS-B's vulnerabilities. Thereafter, we present theoretical and practical methods for implementing an Internet of Things (IoT)-based system as a possible additional safety layer to mitigate the presented cyber-vulnerabilities. Finally, a set of simulations and field experiments is presented to test the expected performance of the suggested IoT flight safety system. We conjecture that the presented system can be implemented in a wide range of civilian airplanes, leading to an improvement in flight safety in cases of cyberattacks or the absence of reliable ADS-B communication.

Save Our Roads from GNSS Jamming: A Crowdsource Framework for Threat Evaluation.

Global Navigation Satellite Systems (GNSS) jamming is an acute problem in the world of modern navigation. As more and more applications rely on GNSS for both position and timing, jamming ramifications are becoming more severe. In this paper we suggest a novel framework to cope with these threats. First, a Bayesian jamming detection algorithm is introduced. The algorithm can both detect and track several jammers in a pre-defined region of interest. Then, a jamming coverage map algorithm is offered. Similar to cellular 3G/4G coverage maps, such a map can detect "weak" GNSS reception spots and handle them. Since jamming interference can be a dynamic phenomenon (e.g., a vehicle equipped with a jammer), the coverage map changes with time. Thus, interference patterns can be detected more easily. Utilizing the offered algorithm, both on simulation and field experiments, we have succeeded to localize an arbitrary jammer(s) within the region of interest. Thus, the results validate the viability of the proposed method.

Vision-Less Sensing for Autonomous Micro-Drones.

This work presents a concept of intelligent vision-less micro-drones, which are motivated by flying animals such as insects, birds, and bats. The presented micro-drone (named BAT: Blind Autonomous Tiny-drone) can perform bio-inspired complex tasks without the use of cameras. The BAT uses LIDARs and self-emitted optical-flow in order to perform obstacle avoiding and maze-solving. The controlling algorithms were implemented on an onboard micro-controller, allowing the BAT to be fully autonomous. We further present a method for using the information collected by the drone to generate a detailed mapping of the environment. A complete model of the BAT was implemented and tested using several scenarios both in simulation and field experiments, in which it was able to explore and map complex building autonomously even in total darkness.

STEPS: An Indoor Navigation Framework for Mobile Devices.

This paper presents a vision-based navigation system designed for indoor localization. The suggested framework works as a standalone 3 D positioning system by fusing a sophisticated optical-flow pedometry with map constrains using an advanced particle filter. The presented method requires no personal calibration and works on standard smartphones with relatively low energy consumption. Field experiments on Android smartphones show that the expected 3 D error is about 1-2 m in most real-life scenarios.

Star-Tracker Algorithm for Smartphones and Commercial Micro-Drones.

This paper presents a star-tracking algorithm to determine the accurate global orientation of autonomous platforms such as nano satellites, U A V s, and micro-drones using commercial-off-the-shelf ( C O T S ) mobile devices such as smartphones. Such star-tracking is especially challenging because it is based on existing cameras which capture a partial view of the sky and should work continuously and autonomously. The novelty of the proposed framework lies both in the computational efficiency and the ability of the star-tracker algorithm to cope with noisy measurements and outliers using affordable C O T S mobile platforms. The presented algorithm was implemented and tested on several popular platforms including: Android mobile devices, commercial-micro drones, and Raspberry Pi. The expected accuracy of the reported orientation is [0.1°,0.5°].

The Effect of the Pressure Exerted on the Maternal Abdominal Wall by the US Probe on Fetal MCA Peak Systolic Velocity.

Purpose To quantify the pressure exerted on the maternal abdominal wall during ultrasound examination and evaluate its effect on the fetal middle cerebral artery (MCA) peak systolic velocity (PSV). Materials and Method Gravid women with singleton pregnancies in their 2nd-3 rd trimester undergoing fetal sonographic evaluation for various indications were recruited. Each subject underwent transabdominal US measuring fetal distance from the probe, abdominal thickness, amniotic fluid index and biophysical profile. The applied pressure was measured simultaneously using an electronic pressure sensor attached directly to the US probe. For each subject baseline values of the pressure required for proper visualization were obtained. Fetal MCA was then demonstrated using color Doppler US. The PSV was measured at different pressure ranges with each subject used as her own control. Care was taken not to exceed the baseline pressure for each subject. Results 29 women were recruited. 24 subjects (82.7 %) demonstrated a statistically significant positive correlation between the pressure exerted and MCA-PSV (R-0.37, p < 0.0001). Of these, 4 subjects (13.8 % of study population) demonstrated elevation of PSV values above 1.29 MOM and 5 subjects (17.2 %) demonstrated elevation of PSV values above 1.5 MOM for gestational age with increasing pressure. In total, 9 subjects (31 %) demonstrated significant changes in the MCA-PSV measurements (owing to increase in pressure applied) that could potentially falsely influence clinical obstetric diagnosis and management. Conclusion The pressure exerted on the maternal abdominal wall during US examination is an important parameter, producing clinically significant measurable changes in fetal MCA hemodynamics. Further study is needed in order to demonstrate the potential effect of pressure as a parameter influencing the diagnostic accuracy of the MCA-PSV in the setting of fetal anemia.